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Merge pull request #273 from yilunc2020/yilunc/dynamic-window

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cleanup in dynamic window approach
This commit is contained in:
Atsushi Sakai
2020-01-19 20:21:07 -07:00
committed by GitHub
parent 30837d3348 1c081ed3e0
commit 9438894c71
1 changed files with 3 additions and 3 deletions
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6
PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
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@@ -22,7 +22,7 @@ def dwa_control(x, config, goal, ob):
dw = calc_dynamic_window(x, config)
u, trajectory = calc_final_input(x, dw, config, goal, ob)
u, trajectory = calc_control_and_trajectory(x, dw, config, goal, ob)
return u, trajectory
@@ -101,7 +101,7 @@ def calc_dynamic_window(x, config):
x[4] - config.max_dyawrate * config.dt,
x[4] + config.max_dyawrate * config.dt]
# [vmin,vmax, yaw_rate min, yaw_rate max]
# [vmin, vmax, yaw_rate min, yaw_rate max]
dw = [max(Vs[0], Vd[0]), min(Vs[1], Vd[1]),
max(Vs[2], Vd[2]), min(Vs[3], Vd[3])]
@@ -124,7 +124,7 @@ def predict_trajectory(x_init, v, y, config):
return traj
def calc_final_input(x, dw, config, goal, ob):
def calc_control_and_trajectory(x, dw, config, goal, ob):
"""
calculation final input with dynamic window
"""